void Run()
{
if (udpAddress != null)
{
UdpPort udp = new UdpPort();
udp.Connect(udpAddress);
IPEndPoint remote = udp.WaitForOneMessage(TimeSpan.FromSeconds(10));
if (remote == null)
{
Console.WriteLine("### Error: not getting any messages from " + udpAddress);
return;
}
port = udp;
}
else if (comPortName != null)
{
SerialPort serial = new SerialPort();
serial.Connect(comPortName, DefaultComBaudRate);
port = serial;
}
if (proxyAddress != null)
{
proxyPort = new UdpPort();
proxyPort.Connect(new IPEndPoint(udpAddress.Address, 0), proxyAddress);
proxyChannel = new MavlinkChannel();
proxyChannel.MessageReceived += OnProxyMessageReceived;
proxyChannel.Start(proxyPort);
}
MavlinkChannel channel = new MavlinkChannel();
channel.MessageReceived += OnMessageReceived;
channel.Start(port);
}
private void OnUdpConnect(object sender, RoutedEventArgs e)
{
if (port != null)
{
port.Close();
port = null;
OnPortClosed();
}
else
{
var model = (NetworkModel)NetworkList.SelectedItem;
IPAddress addr = null;
if (model.Network != null)
{
foreach (UnicastIPAddressInformation ip in model.Network.GetIPProperties().UnicastAddresses)
{
if (ip.Address.AddressFamily == System.Net.Sockets.AddressFamily.InterNetwork)
{
addr = ip.Address;
}
}
}
else
{
addr = IPAddress.Parse("127.0.0.1");
}
int i = 0;
if (int.TryParse(PortNumber.Text, out i))
{
var udp = new UdpPort();
udp.Connect(new IPEndPoint(addr, i), null);
OnPortConnected(udp);
UdpConnectButton.Content = "Disconnect";
}
}
}